Swimming pool cleaning robot and steering method

Abstract

The present disclosure belongs to the technical field of swimming pool cleaning, in particular to a swimming pool cleaning robot and a steering method, which including a cleaning robot body, an angle sensor , a gyroscope sensor and an acceleration sensor arranged inside the cleaning robot body, as well as first sonar and second sonar fixed on the forward side of the cleaning machine body. The present disclosure solves the problem of low random cleaning efficiency of the traditional cleaning robot, and there is no need to plan the cleaning route, and can be directly used in the swimming pool. The scraping assembly can scrape the dirty at the bottom of the swimming pool, and then facilitate the absorption of the sewage suction port. It has a strong cleaning effect for some dirty stuck at the bottom of the swimming pool that is difficult to suck.

What is claimed is: 
     
         1 . A steering method of steering a swimming pool cleaning robot, the swimming pool cleaning robot comprises a cleaning robot body, an angle sensor, a gyroscope sensor and an acceleration sensor, and the angle sensor, the gyroscope sensor and the acceleration sensor are arranged inside the cleaning robot body, the swimming pool cleaning robot further comprises a first sonar and a second sonar, the first sonar and the second sonar being fixed on a forward side of the cleaning robot body, the steering method comprising:
 S 1 , instructing the cleaning robot body to move in any direction in the swimming pool;   S 2 , determining an angle between a travel direction of the cleaning robot body and a swimming pool wall;   S 3 , instructing the cleaning robot body to turn round perpendicular to the former travel direction, after the cleaning robot body comes in contact with the swimming pool wall;   S 4 , instructing the cleaning robot body to move in a opposite direction of the former travel direction, which is parallel to the former direction, after steering;   S 5 , repeating S 2  and instructing the cleaning robot to move perpendicular to the travel direction, and when the cleaning robot body is at an acute angle with the swimming pool wall, instructing the cleaning robot body to turn in advance after moving a certain distance from the swimming pool wall, if the cleaning robot body is at a right angle with the swimming pool wall, instructing the cleaning robot body to turn as in S 3  after contacting with the swimming pool wall; and   S 6 , instructing the cleaning robot body to turn around and move in the opposite direction of the former travel direction.   
     
     
         2 . The swimming pool cleaning robot steering method according to  claim 1 , specific steps of S 2 -S 3  comprising:
 sending out ultrasonic waves by the first sonar and the second sonar, when the cleaning robot body enters water of the swimming pool for a first time, in which, after the ultrasonic waves collide with the swimming pool wall, the ultrasonic wave rebounds; 
 detecting a distance between the first sonar and the second sonar from the swimming pool wall as a straight line A and a straight line B respectively; 
 calculating a distance between the first sonar and the second sonars as X 1 , and a distance difference between a length of the straight line B and a length of the straight line A as X 2 ; 
 determining an rotation angle of the cleaning robot body by the angle sensor; 
 determining an orientation of the cleaning robot body by the gyroscope sensor; 
 calculating a <a between the straight line A and the swimming pool wall, when the length of the straight line B is longer than the length of the straight line A, wherein <a=tana+90°, tana=X 2 /X 1 ; 
 instructing the swimming pool cleaning robot to move a certain distance in a direction perpendicular to the straight line B after the swimming pool cleaning robot colliding with the swimming pool wall, and then instruct the swimming pool cleaning robot to move in the opposite direction, there is a local intersection between two travel routes of the cleaning robot body, and the certain distance is less than or equal to a cleaning range of the cleaning robot body. 
 
     
     
         3 . The swimming pool cleaning robot steering method according to  claim 1 , steps of S 5 -S 6  comprising:
 calculating <b between the straight line B and the swimming pool wall, after the cleaning robot body turns around once, wherein tanb=X 1 /X 2 ; 
 instructing the cleaning robot body to move the certain distance in the direction perpendicular to the straight line A, after the cleaning robot travels for the certain distance, and when a distance between the cleaning robot body and the swimming pool wall is 1.2 to 1.5 times of a body radius of the cleaning robot body; 
 moving in an opposite direction, so as to complete a stroke cleaning; 
 there is a local intersection between two travel routes of the cleaning robot body, and the certain distance is less than or equal to a cleaning range of the cleaning robot body. 
 
     
     
         4 . A swimming pool cleaning robot comprising:
 a cleaning robot body;   a controller, with stored instructions used to control the forward, steering and stop of the cleaning robot body;   two driving wheel and two steering wheel rotationally mounted at a bottom of the cleaning robot body;   an anti-collision guide assembly, which is fixedly installed on the top of the cleaning robot body, and configured for protecting the cleaning robot body;   a sewage suction set at the bottom of the cleaning robot body;   a scraping assembly set at the bottom of the cleaning robot body, which is configured to clean and scrap a swimming pool.   
     
     
         5 . The swimming pool cleaning robot according to  claim 4 , wherein
 the bottom of the cleaning robot body is fixedly mounted with two spoilers, and the two spoilers are obliquely arranged, and the scraper assembly and the suction port are located between the two spoilers.   
     
     
         6 . The swimming pool cleaning robot according to  claim 4 , wherein
 the anti-collision guide assembly comprises a mounting plate, the mounting plate is fixedly connected with the top of the cleaning robot body, a first front side of the mounting plate is fixedly installed with two rebound damping rods, and the two rebound damping rods are hinged with two hinged rods, respectively, the two hinged rods are hinged with a rectangular plate, and a second front side of the rectangular plate is fixedly installed with an arc plate.   
     
     
         7 . The swimming pool cleaning robot according to  claim 6 , wherein
 the arc plate is configured to contact with the swimming pool wall, and a diameter of the arc plate is greater than a spacing between the two steering wheels.   
     
     
         8 . The swimming pool cleaning robot according to  claim 6 , wherein
 when the arc plate encounters an impact force, the rectangular plate tilts, and the two rebound damping rods are driven to contract or extend by the two hinged rods in respond to the impact force, so as to buffer the impact force on the arc plate.   
     
     
         9 . The swimming pool cleaning robot according to  claim 4 , wherein
 the scraper assembly comprises two fixing plates, the two fixing plates are fixedly connected to the bottom of the cleaning robot body, the two fixing plates are rotatably mounted with a rotating shaft, and the rotating shaft is fixedly mounted with a first scraper board and a second scraper board.   
     
     
         10 . The swimming pool cleaning robot according to  claim 6 , wherein arc plate comprises an arc hole, and a plurality of guide wheels distributed at equal intervals and rotationally installed in the arc hole, the plurality of guide wheels extends through the arc hole, and the rectangular plate and two articulated rods are distributed in an isosceles trapezoid shape. 
     
     
         11 . The swimming pool cleaning robot according to  claim 9 , wherein
 the rotating shaft penetrates through the two fixing plates and is rotationally connected to the fixing plate, two vertical plates are fixedly installed on the rotating shaft, each vertical plate is provided with a guide rod, and the guide rod penetrates the vertical plate and is slidably connected to the vertical plate, two ends of the guide rod are fixedly installed with a disc and a fixed block, the fixed block and the fixing plate are fixedly connected, one side of the disc and the vertical plate close to each other is fixedly installed with a spring, and the spring is slidably sleeved on the guide rod.   
     
     
         12 . The swimming pool cleaning robot according to  claim 11 , wherein
 the vertical plate comprises a rectangular hole, and the guide rod extends through the rectangular hole and is slidably connected to the rectangular hole.   
     
     
         13 . The swimming pool cleaning robot according to  claim 9 , wherein:
 a third scraper is fixedly installed on a side of the first scraper, close to the sewage suction port, and a length of the third scraper is greater than a spacing between the first scraper and the second scraper.